Szukana fraza: [Abstract = "Next, a closed form of the determinant of the Jacobian was derived. From the formula, singular configurations, where the determinant\?s value equals zero, were determined. Additionally, geometric interpretations of these configurations were given and they were illustrated. For the exemplary manipulator, small corrections of joint variables preventing the reduction of the Jacobian order were suggested. An analysis of positional errors, caused by these corrections, was presented."]

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